CN110153259A - High-precision conveying robot numerically-controlled machine tool and its operating method - Google Patents
High-precision conveying robot numerically-controlled machine tool and its operating method Download PDFInfo
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- CN110153259A CN110153259A CN201910409494.1A CN201910409494A CN110153259A CN 110153259 A CN110153259 A CN 110153259A CN 201910409494 A CN201910409494 A CN 201910409494A CN 110153259 A CN110153259 A CN 110153259A
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- machine tool
- punching press
- controlled machine
- numerically
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/005—Edge deburring or smoothing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/06—Stripping-off devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/02—Machine tools for performing different machining operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Forging (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical fields of numerical controlled machinery equipment, disclose high-precision conveying robot numerically-controlled machine tool and its operating method；The high-precision conveying robot numerically-controlled machine tool includes body, the side of the body is equipped with charging and discharging mechanism, the body upper of the side of the charging and discharging mechanism is equipped with stamping die, the stamping die is arranged right below punching press assistance platform, the body upper of punching press assistance platform side is equipped with beveler machine tool, the feed end of the charging and discharging mechanism is equipped with positioned parallel mechanism, and the side of the positioned parallel mechanism is equipped with punching press positioning mechanism；The body includes shell, and the side of the shell is equipped with connection frame, and the top of the connection frame is oblique, and end is connected with punching press positioning mechanism, and the other side of the shell is equipped with control cabinet.The present invention can be realized the automation to material processing, and forge, cut, punching can simultaneously to two root timber material work, improve work efficiency.
Description
Technical field
The invention patent relates to the technical fields of numerical controlled machinery equipment, in particular to high-precision conveying robot
Numerically-controlled machine tool and its operating method.
Background technique
Numerous parts require to assemble in processing, and general part is using manual assembly, due to artificial in assembly
Feeding can generate because clamp it is not in place caused by processing dimension it is bad, one product of every processing will open appliance doors it is artificial on
Blanking is primary, especially blanking when be required to using cooling water by the part processed it is cooling after discharging, inevitably have processing and use
Coolant liquid it is unrestrained, so that the ground on equipment periphery is always had ponding, process a product and need 60 seconds or so, employee is checking product
When can generate downtime, reduce production efficiency.
Through retrieving, Chinese patent application publication No. CN104816314A discloses a kind of digital control mechanical arm, including workbench,
Guide rail is equipped with above workbench, guide rail is equipped with mobile mechanical arm, and the lower work platform of guide rail side, which is equipped with, sets charging tray, another
The workbench of the lower section of side is equipped with tooling collet, and mobile mechanical arm turns including driving sliding block, right angle to crank arm, right angle being driven to crank arm
Mechanical gripper is installed in dynamic driving device, two ends that right angle is cranked arm, and right angle is cranked arm through pin and driving sliding block pin joint,
Driving device connect driving right angle with pin and cranks arm rotation.
Part in the prior art is processed as semi-automatic manual assembly, but existing hidden danger is more, if accidentally going out
It when existing part is fallen, may be stuck among lathe, just need to shut down inspection titbit part at this time, not only delay process time, lathe
On greasy dirt can be sticked on part, also need afterwards cleaning could accurately use.
Summary of the invention
The purpose of the present invention is to provide numerically-controlled machine tools can simultaneously work to two root timber material in forging, cutting, punching, mention
High working efficiency, it is intended to solve part in the prior art and be processed as semi-automatic manual assembly, but existing hidden danger compared with
It is more, the problem of if accidentally part occur and fall, may being stuck among lathe, just need to shut down inspection titbit part at this time.
The invention is realized in this way high-precision conveying robot numerically-controlled machine tool, including body, the side of the body
Equipped with charging and discharging mechanism, the body upper of the side of the charging and discharging mechanism is equipped with stamping die, the stamping die just under
Side is equipped with punching press assistance platform, and the body upper of punching press assistance platform side is equipped with beveler machine tool, the charging and discharging mechanism
Feed end be equipped with positioned parallel mechanism, the side of the positioned parallel mechanism is equipped with punching press positioning mechanism；
The body includes shell, and the side of the shell is equipped with connection frame, and the top of the connection frame is oblique, and end
Be connected with punching press positioning mechanism, the other side of the shell is equipped with control cabinet, the control cabinet respectively with charging and discharging mechanism, punching
Press positioning mechanism, positioned parallel mechanism, stamping die, beveler machine tool electrical connection；
The punching press positioning mechanism includes support frame, and the top of support frame as described above is tiltedly installed with material seat, support frame as described above
It is equipped with limiting slot on the outer wall of two sides, limited block is slidably connected in two limiting slots, the side of the limited block is set
There is mounting base, the two sides of the mounting base pass through attachment screw and are fixedly connected with limited block, pass through on the outside of the mounting base
Attachment screw is fixed with push rod, and the inclined hook-shaped in the top of the push rod and lower part side are connected with third cylinder, the peace
The bottom end of dress seat is provided with inductor, and the inductor is connected with control cabinet；
The positioned parallel mechanism includes attachment base, and the attachment base lower inner wall is equipped with articulated slab, the side of the articulated slab
It is rotatablely connected with rocker arm, the side of the rocker arm is fixed with the 4th cylinder, and the output end of the 4th cylinder is equipped with connecting shaft, institute
It states connection the tip of the axis and is hinged with cam, the middle part of the cam is equipped with rotation axis, and the rotation axis runs through attachment base, and one end
It is fixedly connected with driven wheel, the edge of the driven wheel is equipped with high-order equalization point；
The charging and discharging mechanism includes pedestal, and the top two sides of the pedestal are respectively and fixedly provided with guide rail, and sliding connects on the guide rail
It is connected to slide, two slide tops are equipped with mounting plate, and the bottom end side of the mounting plate is equipped with driving motor, the driving
The output end of motor is equipped with rotate gear, and the lower part of the transmission gear is equipped with the rack gear being meshed therewith, and the rack gear is fixed
On the upper wall of pedestal, the top edge of the mounting plate is equipped with support, is provided with connecting filament between two supports
Thick stick, is separately installed with the first pneumatic arm and the second pneumatic arm on two connection lead screws, the first pneumatic arm with
Second pneumatic arm is connected on the shield on the outside of connection lead screw；
The lifting moving mechanism includes servo motor, and the servo motor is set on the base in the groove in portion, the servo
The output end of motor is connected with ball screw, and the ball screw is through mounting plate and end and is connected between two shields
Connecting plate transmission connection.
Further, one end of two connection lead screws is each provided in the fixing bearing of side support, and the other end passes through
Wear other side support and coaxially connected with driving motor.
Further, the mounting plate is equipped with bearing block, and the bearing block is connect with ball leading screw driving, the connection
The bottom end of plate is equipped with the slide to match with ball screw.
Further, the described first pneumatic arm includes first connecting rod, and a middle side part of the first connecting rod is equipped with first
Cylinder, first cylinder and the bottom wall in first connecting rod are hinged, and output end is hinged with clamp hand.
Further, the first connecting rod includes upper rack posts and lower bottom base, is uniformly arranged between the upper rack posts and lower bottom base
There are multiple springs.
Further, the described second pneumatic arm includes second connecting rod, and the top of the second connecting rod is equipped with link slot, institute
It states and is provided with rotating device in link slot, the side of the rotating device is hinged with the second cylinder, the output of second cylinder
End is provided with clamp hand, and the clamp hand is arranged on the side wall of rotating device.
Further, the clamp hand includes that fixing clamp and activity are pressed from both sides, and the fixing clamp is fixed on first connecting rod or rotation dress
It sets, the activity folder is hinged on first connecting rod or rotating device, and bottom end is hinged with the first cylinder or the second cylinder respectively.
Further, the rotating device includes rotating electric machine and reduction gearbox, and the output end of the reduction gearbox, which is nested with, to be turned
Dynamic column, the rotatable angle of Rotational Cylindrical are 0~180 °.
Further, the intracorporal avris of the machine, which is equipped with, cuts mold, and the cutting mold cuts out the corner of material
It cuts, numerically-controlled machine tool is flowed out after cutting.
The operating method of high-precision conveying robot numerically-controlled machine tool, specific steps are as follows:
S1: control cabinet starts numerically-controlled machine tool, and material to be processed is placed on connection frame, under gravity, material to be processed
It rolls to punching press positioning mechanism, the inductor of punching press positioning mechanism has incuded material in place, i.e. feedback information to control cabinet, control
Case processed, which sends instruction, starts punching press positioning mechanism；
S2: the third cylinder starting on punching press positioning mechanism drives push rod and limited block toward upper direction, push rod top band animal
Material rises on material seat；
S3: the 4th cylinder starting in positioned parallel mechanism is rotated by connecting shaft band moving cam, cam is made to pass through rotation axis band
Dynamic driven wheel rotation, jacks up the high-order equalization point on driven wheel by material；
S4: charging and discharging mechanism starts, and the clamp hand on the first pneumatic arm starts to pick up material, and the cooperation for passing through slide and guide rail moves
Dynamic to drive material mobile, to be moved to punching machine mold lower section, lifting moving mechanism is begun to decline, and material is placed on punching press auxiliary
On platform, punching machine mold starts to process material at this time, and the first pneumatic arm returns under connection lead screw effect, and second
Pneumatic arm is moved to material side etc. and is completely processed；
S5: material is successively forged, chamfering, and chamfering drilling machine is that automatic chamfering is carried out to the burr for being punched out and stamping out, the
Two pneumatic arms are rotated by 90 ° by rotating device picks up material, mobile by connection lead screw, then rotates 180 ° and put it into sanction
On shear mould；
S6: it cuts mold and cutting processing is carried out to the edge of material again, the first pneumatic arm has picked up next material at this time
It is placed on punching press assistance platform, punching machine mold processes material, and a upper material completes material after the completion of cutting
Processing, last material flows out numerically-controlled machine tool.
Compared with prior art, high-precision conveying robot numerically-controlled machine tool provided by the invention can be realized to material
Automation processing, punching press positioning mechanism can convey material, and raw material are moved from left to right each of guarantee
Length it is consistent, will not generate the uneven phenomenon of level, positioned parallel mechanism drives driven wheel rotation by the rotation of cam, from
Material can be held in parallel the highest point for being close in cam by the high-order equalization point on driving wheel, realize automatic positioning, charging and discharging mechanism energy
Enough realized by the double action of the first pneumatic arm and the second pneumatic arm and successively processed, and forge, cut, punching can
It works two root timber material, improves work efficiency simultaneously；
Lifting moving mechanism can be to the effect that connecting plate moves up and down, so that first on charging and discharging mechanism is pneumatic
Arm clamps the material of different location with the second pneumatic arm, and all cylinders mentioned on numerically-controlled machine tool are
It is connected with solenoid valve, solenoid valve connects gas source, and solenoid valve connects the computer control system in control cabinet simultaneously, realizes different
The effect of mechanism, the degree of automation is stronger, substantially reduces the artificial amount of labour.
Detailed description of the invention
Fig. 1 is that the present invention provides the positive structure schematic of high-precision conveying robot numerically-controlled machine tool；
Fig. 2 is that the present invention provides the side structure schematic diagram of high-precision conveying robot numerically-controlled machine tool；
Fig. 3 is that the present invention provides the structural schematic diagram of charging and discharging mechanism in high-precision conveying robot numerically-controlled machine tool；
Fig. 4 is that the present invention provides the structural schematic diagram of punching press positioning mechanism in high-precision conveying robot numerically-controlled machine tool；
Fig. 5 is the structure enlargement diagram of a-quadrant in Fig. 4；
Fig. 6 is that the present invention provides the positive structure schematic of positioned parallel mechanism in high-precision conveying robot numerically-controlled machine tool；
Fig. 7 is that the present invention provides the side structure schematic diagram of positioned parallel mechanism in high-precision conveying robot numerically-controlled machine tool；
Fig. 8 is the first pneumatic arm in the high-precision conveying robot numerically-controlled machine tool of present invention offer inside charging and discharging mechanism
Structural schematic diagram；
Fig. 9 is the second pneumatic arm in the high-precision conveying robot numerically-controlled machine tool of present invention offer inside charging and discharging mechanism
Structural schematic diagram.
In figure: 1- body, 11- connection frame, 12- shell, 13- control cabinet；
2- charging and discharging mechanism, 21- pedestal, 22- guide rail, 23- slide, 24- driving motor, 25- rack gear, 26- mounting plate, 27- branch
Seat, 28- connection lead screw, 29- driving motor, the pneumatic arm of 210- first, the pneumatic arm of 211- second, 212- shield；
2101- first connecting rod, the first cylinder of 2102-, 2103- clamp hand, 2104- spring；
2111- second connecting rod, 2112- rotating device, the second cylinder of 2113-；
3- punching press positioning mechanism, 31- support frame, 32- material seat, 33- push rod, 34- mounting base, 35- limited block, 36- connection spiral shell
Nail, 37- limiting slot, 38- inductor, 39- third cylinder；
4- positioned parallel mechanism, the 4th cylinder of 41-, 42- rocker arm, 43- connecting shaft, 44- cam, 45- rotation axis, 46- driven wheel,
47- attachment base, 48- articulated slab；
5- lifting moving mechanism, 51- servo motor, 52- ball screw, 53- slide, 54- bearing block, 55- connecting plate；
6- punching machine mold, 7- punching press assistance platform, 8- cut mold, 9- chamfering drilling machine.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific embodiment.
The same or similar label correspond to the same or similar components in the attached drawing of the present embodiment；In description of the invention
In, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right" for based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore describe the use of positional relationship in attached drawing
Language only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term is understood as the case may be.
It is preferred embodiment provided by the invention referring to Fig.1 shown in -9.
The side of high-precision conveying robot numerically-controlled machine tool, including body 1, body 1 is equipped with charging and discharging mechanism 2, up and down
Expect that 1 top of body of the side of mechanism 2 is equipped with stamping die 6, stamping die 6 is arranged right below punching press assistance platform 7, punching press
The body upper of 7 side of assistance platform is equipped with beveler machine tool 9, and the feed end of charging and discharging mechanism is equipped with positioned parallel mechanism 4, in parallel
The side of positioning mechanism 4 is equipped with punching press positioning mechanism 3, and punching press positioning mechanism 3 is mainly that by and arranges to material, protects
Demonstrate,prove that each length is consistent, material can then be held in parallel the highest point for being close in cam by positioned parallel mechanism 4, consequently facilitating on
Cutting agency 2 carries out clamping process operation to material；
Body 1 includes shell 12, and the side of shell is equipped with connection frame 11, and the top of connection frame 11 is oblique, and end and punching
Pressure positioning mechanism 3 is connected, and convenient for material since gravity polymerize, facilitates punching press positioning mechanism 3 to be picked up material, shell 12
The other side be equipped with control cabinet 13, control cabinet 13 respectively with charging and discharging mechanism 2, punching press positioning mechanism 3, positioned parallel mechanism 4, punching
Compression mould 6, the electrical connection of beveler machine tool 9, are transmitted convenient for signal, to guarantee the mechanical action of each step, realize that automation adds
Work；
Punching press positioning mechanism 3 includes support frame 31, and the top of support frame 31 is tiltedly installed with material seat 32, the two sides of support frame 31
It is equipped with limiting slot 37 on outer wall, limited block 35 is slidably connected in two limiting slots 37, the side of limited block 35 is equipped with peace
Seat 34 is filled, the two sides of mounting base 34 pass through attachment screw 36 and are fixedly connected with limited block 35, and the outside of mounting base 34 passes through company
It connects screw 36 and is fixed with push rod 33, the inclined hook-shaped in the top of push rod 33 and lower part side are connected with third cylinder 39, installation
The bottom end of seat 34 is provided with inductor 38, and inductor 38 is connected with control cabinet 13, and inductor 38 can mainly incude limit
The position that block 35 is moved on limiting slot 37, consequently facilitating the top of push rod 33 is connected with material seat 32, it is best for making it
Material is transported on material seat 32 by angle；
Positioned parallel mechanism 4 include attachment base 47,47 lower inner wall of attachment base be equipped with articulated slab 48, the side of articulated slab 48 with shake
Arm 42 is rotatablely connected, and the side of Rocker arm 42 is fixed with the 4th cylinder 41, and the output end of the 4th cylinder 41 is equipped with connecting shaft 43, connection
The end of axis 43 is hinged with cam 44, and the middle part of cam 44 is equipped with rotation axis 45, and rotation axis 45 runs through attachment base 47, and one end is solid
Surely it is connected with driven wheel 46, the edge of driven wheel 46 is equipped with high-order equalization point, and the impetus of the 4th cylinder 41 can make cam
44 rotate on attachment base 47, and it can be material driven that rotation, which will drive connecting shaft 43, and driven wheel 46 rotates
It peaks on wheel 46, it is clamped convenient for the clamp hand on charging and discharging mechanism；
Charging and discharging mechanism 2 includes pedestal 21, and the top two sides of pedestal 21 are respectively and fixedly provided with guide rail 22, slidably connect on guide rail 22
Slide 23, two 23 tops of slide are equipped with mounting plate 26, and the bottom end side of mounting plate 26 is equipped with driving motor 24, driving motor 24
Output end be equipped with rotate gear, the lower part of transmission gear is equipped with the rack gear 25 being meshed therewith, and rack gear 25 is fixed on pedestal 21
Upper wall on, the top edge of mounting plate 26 is equipped with support 27, be provided between two supports 27 connection lead screw 28, two
The first pneumatic arm 210 and the second pneumatic arm 211, the first pneumatic arm 210 and second are separately installed on connection lead screw 28
Pneumatic arm 211 is connected on the shield 212 in 28 outside of connection lead screw；
In the present embodiment, the coaxially connected driving motor 29 in one end of two connection lead screws 28, driving motor 29 realize connection
The rotation of lead screw 28, the first pneumatic arm 210, the second pneumatic arm 211 and connect lead screw 28 for be threadedly coupled, so rotating
When, shield 212 can limit the first pneumatic arm 210, the second pneumatic arm 211, place it and follow connection lead screw
28 common rotations, to realize the movement of the first pneumatic arm 210 and the second pneumatic arm 211, and two pneumatic arms
Movement is independent from each other, and manipulation of two connections by control cabinet 13.
Lifting moving mechanism 5 includes servo motor 51, and servo motor 51 is arranged in the groove on 21 top of pedestal, servo electricity
The output end of machine 51 is connected with ball screw 52, and ball screw 52 is through mounting plate 26 and end and is connected to two shields
Connecting plate 55 between 212 is sequentially connected, can either be real by the cooperation of ball screw 52, servo motor 51 and connecting plate 55
Now go up and down effect；
In addition, being fixedly connected, can be realized short-range production and being shunk due to non-between support 27 and mounting plate 26.
High-precision conveying robot numerically-controlled machine tool can be realized the processing of the automation to material, 3 energy of punching press positioning mechanism
It is enough that material is conveyed, and raw material are moved from left to right and guarantee that each length is consistent, level will not be generated not
Neat phenomenon, positioned parallel mechanism 4 pass through the rotation of cam 44, and driven wheel 46 is driven to rotate, the high-order equalization point on driven wheel 46
Material can be held in parallel to the highest point for being close in cam 44, realize automatic positioning, charging and discharging mechanism 2 can pass through the first pneumatic hand
The double action realization of arm 210 and the second pneumatic arm 211 is successively processed, and forge, cut, punching can be simultaneously to two
Material work, improves work efficiency；
In the present embodiment, one end of two connection lead screws 28 is each provided in the fixing bearing of side support 27, and the other end passes through
Other side support 27 and, driving motor 29 side setting only speed reducer coaxially connected with driving motor 29 are worn, to reduce revolving speed,
Realize slow and pinpoint accuracy the movement of pneumatic arm.
Mounting plate 26 is equipped with bearing block, and bearing block and ball screw 52 are sequentially connected, the bottom end of connecting plate 55 be equipped with
The slide 53 that ball screw 52 matches, such slide 53 are able to drive, and connecting plate 55 moves up and down, can either lifting position.
First pneumatic arm 210 includes first connecting rod 2101, and a middle side part of first connecting rod 2101 is equipped with the first cylinder
2102, the first cylinder 2102 and the bottom wall in first connecting rod 2101 are hinged, and output end is hinged with clamp hand 2103, cardinal principle
It is the flexible clamping to push the realization tense-lax of clamp hand 2103 by the first cylinder 2102.
First connecting rod 2101 includes upper rack posts and lower bottom base, and multiple springs are uniformly placed between upper rack posts and lower bottom base
2104, spring 2104 can reduce the inertia force of the first pneumatic arm 210 when moving first, secondly can have in lifting
Certain elastic effect keeps the range of clamping more extensive.
Second pneumatic arm 211 includes second connecting rod 2111, and the top of second connecting rod 2111 is equipped with link slot, in link slot
It is provided with rotating device 2112, the side of rotating device 2112 is hinged with the second cylinder 2113, the output end of the second cylinder 2113
It is provided with clamp hand 2103, clamp hand 2103 is arranged on the side wall of rotating device 2112.
In the present embodiment, the main function of rotating device 2112 is the clamp hand that can make on the second pneumatic arm 211
2103 are rotated, this frame mode, which can be simple transmission rotation, to be Telescopic rotating used in cylinder.
Clamp hand 2103 includes that fixing clamp and activity are pressed from both sides, and fixing clamp is fixed on first connecting rod 2101 or rotating device 2112,
Activity folder be hinged on first connecting rod 2101 or rotating device 2112, and bottom end respectively with the first cylinder 2102 or the second cylinder
2113 is hinged, when such first cylinder 2102 or the second cylinder 2113 hingedly realize flexible, activity can be made to be clipped in first connecting rod
2101 or rotating device 2112 on realize rotation, rotate in the forward direction i.e. clamping material, counter-rotating then Panasonic's material.
Rotating device 2112 includes rotating electric machine and reduction gearbox, and the output end of reduction gearbox is nested with Rotational Cylindrical, and Rotational Cylindrical can
The angle of rotation be 0~180 °, can either make its can either side clamping material, while rotation 180 ° carry out transported material.
Avris in body 1, which is equipped with, cuts mold 8, cuts mold 8 and cuts to the corner of material, number is flowed out after cutting
Control lathe；
In the present embodiment, the effect that lifting moving mechanism 5 can move up and down connecting plate 55, so that loading and unloading
The first pneumatic arm 210 in mechanism 2 clamps the material of different location with the second pneumatic arm 211, and numerical control machine
Mentioned all cylinders are connected with solenoid valve on bed, and solenoid valve connects gas source, and solenoid valve connects control cabinet 13 simultaneously
Interior computer control system realizes the effect of different institutions, and the degree of automation is stronger, substantially reduces the artificial amount of labour.
The operating method of high-precision conveying robot numerically-controlled machine tool, specific steps are as follows:
S1: control cabinet 13 starts numerically-controlled machine tool, and material to be processed is placed on connection frame 11, under gravity, to be processed
Material is rolled to punching press positioning mechanism 3, and the inductor 38 of punching press positioning mechanism 3 has incuded material in place, i.e., feedback information is extremely
Control cabinet 13, control cabinet, which sends instruction, starts punching press positioning mechanism；
S2: the third cylinder starting on punching press positioning mechanism drives push rod 33 and limited block 35 toward upper direction, 33 top of push rod
Material is driven to rise on material seat 32；
S3: the 4th cylinder 41 starting in positioned parallel mechanism 4 is rotated with moving cam 44 by connecting shaft 43, keeps cam 44 logical
Crossing rotation axis 45 drives driven wheel 46 to rotate, and jacks up the high-order equalization point on driven wheel 46 by material；
S4: charging and discharging mechanism 2 starts, and the clamp hand 2103 on the first pneumatic arm 211 starts to pick up material, by slide 23 with lead
The matching with moving belt animal material of rail 22 is mobile, and to be moved to 6 lower section of punching machine mold, lifting moving mechanism 5 is begun to decline, by material
It is placed on punching press assistance platform 7, punching machine mold 6 starts to process material at this time, and the first pneumatic arm 210 is connecting
The effect of lead screw 28 is lower to be returned, and the second pneumatic arm 211 is moved to material side etc. and is completely processed；
S5: material is successively forged, chamfering, and chamfering drilling machine 9 is that automatic chamfering is carried out to the burr for being punched out and stamping out, the
Two pneumatic arms 211 are rotated by 90 ° by rotating device 2112 and pick up material, mobile by connection lead screw 28, then rotate 180 °
It puts it into and cuts on mold 8；
S6: it cuts mold 8 and cutting processing is carried out to the edge of material again, the first pneumatic arm 210 has been picked up next at this time
Material is placed on punching press assistance platform 7, and punching machine mold 6 processes material, and a upper material is completed after the completion of cutting
The processing of material, last material flow out numerically-controlled machine tool.
In the present embodiment, whole operation process can be controlled by computer, in addition PLC etc., realizes automatic operating control, and
In each operation link, signal feedback can be carried out, realizes the sequentially progress of step, these are all by the way that sensor is arranged
The Conventional wisdom of automation control at present, then no longer repeats one by one in the present embodiment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. high-precision conveying robot numerically-controlled machine tool, which is characterized in that including body, the side of the body is equipped with loading and unloading
The body upper of mechanism, the side of the charging and discharging mechanism is equipped with stamping die, and the stamping die is arranged right below punching press
The body upper of assistance platform, punching press assistance platform side is equipped with beveler machine tool, and the feed end of the charging and discharging mechanism is set
There is positioned parallel mechanism, the side of the positioned parallel mechanism is equipped with punching press positioning mechanism；
The body includes shell, and the side of the shell is equipped with connection frame, and the top of the connection frame is oblique, and end
Be connected with punching press positioning mechanism, the other side of the shell is equipped with control cabinet, the control cabinet respectively with charging and discharging mechanism, punching
Press positioning mechanism, positioned parallel mechanism, stamping die, beveler machine tool electrical connection；
The punching press positioning mechanism includes support frame, and the top of support frame as described above is tiltedly installed with material seat, support frame as described above
It is equipped with limiting slot on the outer wall of two sides, limited block is slidably connected in two limiting slots, the side of the limited block is set
There is mounting base, the two sides of the mounting base pass through attachment screw and are fixedly connected with limited block, pass through on the outside of the mounting base
Attachment screw is fixed with push rod, and the inclined hook-shaped in the top of the push rod and lower part side are connected with third cylinder, the peace
The bottom end of dress seat is provided with inductor, and the inductor is connected with control cabinet；
The positioned parallel mechanism includes attachment base, and the attachment base lower inner wall is equipped with articulated slab, the side of the articulated slab
It is rotatablely connected with rocker arm, the side of the rocker arm is fixed with the 4th cylinder, and the output end of the 4th cylinder is equipped with connecting shaft, institute
It states connection the tip of the axis and is hinged with cam, the middle part of the cam is equipped with rotation axis, and the rotation axis runs through attachment base, and one end
It is fixedly connected with driven wheel, the edge of the driven wheel is equipped with high-order equalization point；
The charging and discharging mechanism includes pedestal, and the top two sides of the pedestal are respectively and fixedly provided with guide rail, and sliding connects on the guide rail
It is connected to slide, two slide tops are equipped with mounting plate, and the bottom end side of the mounting plate is equipped with driving motor, the driving
The output end of motor is equipped with rotate gear, and the lower part of the transmission gear is equipped with the rack gear being meshed therewith, and the rack gear is fixed
On the upper wall of pedestal, the top edge of the mounting plate is equipped with support, is provided with connecting filament between two supports
Thick stick, is separately installed with the first pneumatic arm and the second pneumatic arm on two connection lead screws, the first pneumatic arm with
Second pneumatic arm is connected on the shield on the outside of connection lead screw；
The lifting moving mechanism includes servo motor, and the servo motor is set on the base in the groove in portion, the servo
The output end of motor is connected with ball screw, and the ball screw is through mounting plate and end and is connected between two shields
Connecting plate transmission connection.
2. high-precision conveying robot numerically-controlled machine tool as described in claim 1, which is characterized in that two connection lead screws
One end be each provided in the fixing bearing of side support, and the other end is through other side support and coaxially connected with driving motor.
3. high-precision conveying robot numerically-controlled machine tool as claimed in claim 2, which is characterized in that the mounting plate is equipped with
Bearing block, the bearing block are connect with ball leading screw driving, and the bottom end of the connecting plate is equipped with the cunning to match with ball screw
Seat.
4. high-precision conveying robot numerically-controlled machine tool as described in any one of claims 1-3, which is characterized in that described first
Pneumatic arm includes first connecting rod, and a middle side part of the first connecting rod is equipped with the first cylinder, and first cylinder and first connect
Bottom wall in bar is hinged, and output end is hinged with clamp hand.
5. high-precision conveying robot numerically-controlled machine tool as claimed in claim 4, which is characterized in that the first connecting rod includes
Upper rack posts and lower bottom base are uniformly placed with multiple springs between the upper rack posts and lower bottom base.
6. high-precision conveying robot numerically-controlled machine tool as claimed in claim 5, which is characterized in that the second pneumatic arm
Including second connecting rod, the top of the second connecting rod is equipped with link slot, is provided with rotating device, the rotation in the link slot
The side of device is hinged with the second cylinder, and the output end of second cylinder is provided with clamp hand, and the clamp hand setting is filled in rotation
On the side wall set.
7. high-precision conveying robot numerically-controlled machine tool as claimed in claim 6, which is characterized in that the clamp hand includes fixing
Folder is pressed from both sides with activity, and the fixing clamp is fixed on first connecting rod or rotating device, and the activity folder is hinged on first connecting rod or turns
On dynamic device, and bottom end is hinged with the first cylinder or the second cylinder respectively.
8. high-precision conveying robot numerically-controlled machine tool as claimed in claim 7, which is characterized in that the rotating device includes
Rotating electric machine and reduction gearbox, the output end of the reduction gearbox are nested with Rotational Cylindrical, and the rotatable angle of Rotational Cylindrical is 0~
180°。
9. high-precision conveying robot numerically-controlled machine tool as claimed in claim 8, which is characterized in that the intracorporal avris of machine
Equipped with mold is cut, the cutting mold cuts the corner of material, and numerically-controlled machine tool is flowed out after cutting.
10. such as the operating method of the described in any item high-precision conveying robot numerically-controlled machine tools of claim 1-9, feature exists
In, specific steps are as follows:
S1: control cabinet starts numerically-controlled machine tool, and material to be processed is placed on connection frame, under gravity, material to be processed
It rolls to punching press positioning mechanism, the inductor of punching press positioning mechanism has incuded material in place, i.e. feedback information to control cabinet, control
Case processed, which sends instruction, starts punching press positioning mechanism；
S2: the third cylinder starting on punching press positioning mechanism drives push rod and limited block toward upper direction, push rod top band animal
Material rises on material seat；
S3: the 4th cylinder starting in positioned parallel mechanism is rotated by connecting shaft band moving cam, cam is made to pass through rotation axis band
Dynamic driven wheel rotation, jacks up the high-order equalization point on driven wheel by material；
S4: charging and discharging mechanism starts, and the clamp hand on the first pneumatic arm starts to pick up material, and the cooperation for passing through slide and guide rail moves
Dynamic to drive material mobile, to be moved to punching machine mold lower section, lifting moving mechanism is begun to decline, and material is placed on punching press auxiliary
On platform, punching machine mold starts to process material at this time, and the first pneumatic arm returns under connection lead screw effect, and second
Pneumatic arm is moved to material side etc. and is completely processed；
S5: material is successively forged, chamfering, and chamfering drilling machine is that automatic chamfering is carried out to the burr for being punched out and stamping out, the
Two pneumatic arms are rotated by 90 ° by rotating device picks up material, mobile by connection lead screw, then rotates 180 ° and put it into sanction
On shear mould；
S6: it cuts mold and cutting processing is carried out to the edge of material again, the first pneumatic arm has picked up next material at this time
It is placed on punching press assistance platform, punching machine mold processes material, and a upper material completes material after the completion of cutting
Processing, last material flows out numerically-controlled machine tool.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409494.1A CN110153259B (en) | 2019-05-17 | 2019-05-17 | High-precision numerical control machine tool for carrying manipulator and operation method of high-precision numerical control machine tool |
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| CN201910409494.1A CN110153259B (en) | 2019-05-17 | 2019-05-17 | High-precision numerical control machine tool for carrying manipulator and operation method of high-precision numerical control machine tool |
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| CN110153259B CN110153259B (en) | 2021-01-26 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774001A (en) * | 2019-11-27 | 2020-02-11 | 湖北大冶汉龙汽车有限公司 | Chamfering machine for compressor cylinder block and using method thereof |
| CN111112488A (en) * | 2020-02-15 | 2020-05-08 | 广州荟园机械科技有限公司 | A robotic arm for punching press operation |
| CN111570700A (en) * | 2020-05-26 | 2020-08-25 | 广东泽霖机械设备有限公司 | Intelligent environment-friendly forging forming equipment |
| CN112828177A (en) * | 2020-12-30 | 2021-05-25 | 东莞市海洛实业有限公司 | Feeding device of high-speed precision punch press |
| CN114472979A (en) * | 2021-11-17 | 2022-05-13 | 武汉联塑精密模具有限公司 | Feeding, discharging, clamping, drilling and milling system and control method thereof |
| CN116890280A (en) * | 2023-09-04 | 2023-10-17 | 沈阳佳期科技有限公司 | Blanking device for producing sensor isolation cover |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111570700A (en) * | 2020-05-26 | 2020-08-25 | 广东泽霖机械设备有限公司 | Intelligent environment-friendly forging forming equipment |
| CN112828177A (en) * | 2020-12-30 | 2021-05-25 | 东莞市海洛实业有限公司 | Feeding device of high-speed precision punch press |
| CN114472979A (en) * | 2021-11-17 | 2022-05-13 | 武汉联塑精密模具有限公司 | Feeding, discharging, clamping, drilling and milling system and control method thereof |
| CN116890280A (en) * | 2023-09-04 | 2023-10-17 | 沈阳佳期科技有限公司 | Blanking device for producing sensor isolation cover |
| CN116890280B (en) * | 2023-09-04 | 2023-11-14 | 沈阳佳期科技有限公司 | Blanking device for producing sensor isolation cover |
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|---|---|
| CN110153259B (en) | 2021-01-26 |
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Effective date of registration: 20210113 Address after: 224000 No.8 workshop of national entrepreneurship Park, group 1, Anlong village, Bufeng Town, Yancheng Economic and Technological Development Zone, Jiangsu Province Applicant after: Jiangsu Xinyue Automation Co.,Ltd. Address before: 224000 No.4 factory building of national entrepreneurship Park, Bufeng Town, Yancheng Economic and Technological Development Zone, Jiangsu Province Applicant before: Yancheng Hengsheng CNC Technology Co.,Ltd. |